DocumentCode
1744226
Title
Practical stabilization of a class of nonlinear systems. Application to chain systems and mobile robots
Author
Morin, Pascal ; Samson, Claude
Author_Institution
INRIA, Sophia-Antolis, France
Volume
3
fYear
2000
fDate
2000
Firstpage
2989
Abstract
A characterization of the Lie algebra rank condition by transverse periodic functions is applied to feedback stabilization of a class of nonlinear systems. The approach is illustrated on controllable homogeneous driftless systems subjected to known additive perturbations. A generalized path tracking problem for mobile robots is then addressed, in connection with some aspects of the path planning problem
Keywords
Lie algebras; controllability; feedback; mobile robots; multidimensional systems; nonlinear control systems; path planning; polynomial matrices; stability; Lie algebra rank condition; additive perturbations; chain systems; controllable homogeneous driftless systems; feedback stabilization; generalized path tracking problem; transverse periodic functions; Algebra; Control systems; Controllability; Convergence; Feedback control; Linear systems; Mobile robots; Nonlinear control systems; Nonlinear systems; Path planning;
fLanguage
English
Publisher
ieee
Conference_Titel
Decision and Control, 2000. Proceedings of the 39th IEEE Conference on
Conference_Location
Sydney, NSW
ISSN
0191-2216
Print_ISBN
0-7803-6638-7
Type
conf
DOI
10.1109/CDC.2000.914274
Filename
914274
Link To Document